#! /usr/bin/env python
# Forearm camera configuration

PACKAGE='mst_color'


from math import pi

from driver_base.msg import SensorLevels
from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

#define enumerators
size_enum = gen.enum([ gen.const("3x1", int_t, 1, "A 3x1 filter with no Gaussinan smoothing"),
                       gen.const("3x3", int_t, 3, "A 3x3 sobel filter"),
                       gen.const("5x5", int_t, 5, "A 5x5 sobel filter"),
                       gen.const("7x7", int_t, 7, "A 7x7 sobel filter") ],
                       "Size of sobel filter")

#       Name                    Type      Reconfiguration level    Description                                        Default    Min   Max
gen.add("sobel_size",           int_t,    0,                       "The size value of the sobel filter slope finder",  3,         -1,    7,  edit_method=size_enum)
gen.add("sobel_order",          int_t,    0,                       "Value of the sobel filter order",                 1,         1,    2)
gen.add("sobel_scaler",         double_t, 0,                       "Value multiplied to sobel",                       1,         1,    300)
gen.add("slope_var_thresh",     double_t, 0,                       "Value for maximum change in slope",               1,         1,    300)

exit(gen.generate(PACKAGE, "dynamic_reconfigure_node", "Color_Params"))

